Applied Mechanics and Materials Vols. 592-594

Abstract: This paper deals with the design of wheeled mobile robot that will able to climb an obstacle and describes the fuzzy logic control of the obstacle climbing of the robot. The controller is 2 input and single output system. The controller is simulated in Mat lab. The 3D model of the mobile robot with eight wheels was designed using solid works and fabricated. The simulated result is compared with actual result.

Abstract: This paper deals with the new idea of implementing the auto piloting system that can be controlled from the ground. The ground controlled auto piloting system consists of microcontrollers that connect electric motors with various flying parts of the aero plane. The motors rotate as power is supplied from the programmed microcontroller.The working of the full system is made possible with the help of satellite navigation system, where wireless control on the flight from ground is not interrupted on any part of the earth. The objective of this method is that flights that suffer from a sudden knock out of pilot or a hijack can be managed from the ground by the authorized personnel in the ground (airport).

Abstract: The objective of this research work is to model a dynamical system that can undergo flexible deformations along with the general rigid-body motions. For the system to be able to provide precise outputs when excited by an input, the modal shapes need to be examined and a suitable control strategy is required to make the manipulator adapt to a particular use. The input shaping parameters have been analyzed for specific modes of vibrations. The model uses a Gaussian input torque and power spectral density plots are developed with suitable sampling frequency to show the variation of PSD for the modes of vibration under consideration, thereby providing an insight into the shaping parameters of the Gaussian input.

Abstract: Comparative performance of vehicle suspension system using passive, and semi-active control (on-off and continuous) has been carried out for a multi-axle vehicle under the source of road disturbance. Modelling and prediction for stochastic inputs from random road surface profiles has been carried out. The road surface is considered as a stationary stochastic process in time domain assuming constant vehicle speed. The road surface elevations as a function of time have been generated using IFFT. Semi active suspension gives better ride comfort with consumption of fraction of power required for active suspension. A mathematical model has been developed and control algorithm has been verified with the purpose/objective of reducing the unwanted sprung mass motions such as heave, pitch and roll. However, the cost and complexity of the system increases with implementation of semi-active control, especially in military domain. In addition to fully passive and fully semi-active a comparison has been made with partial semi-active control for a multi-axle vehicle to obviate the constraints. The time domain response of the suspension system using various control logics are obtained and compared. Simulations for different class of roads as defined in ISO: 8608 have been run and the ride comfort is evaluated and compared in terms of rms acceleration at CG in vertical direction (Z), which is the major contributor for ORV (Overall Ride Value) Measurement.

Abstract: This paper focuses on the recent advancements made in hydraulic motor. Various parameters of hydraulic motors are studied and their performance with respect to the parameters is studied. nonlinear dynamics model, Gear motor, swash plate motor, radial piston hydraulic motor etc have been examined. Fault diagnosis, dynamic vibration, frictional analysis and speed variation are some of the issues which are being discussed in the paper. The performance results showed that the amplitude of vibration increased with the increase of output torque of the water hydraulic motor and the hydraulic motor with planetary gear train has the advantages of large unit volume displacement and small flow rate fluctuation ratio. Some measures were proposed to improve the low-speed stability of the hydraulic motor. Keywords-hydraulic motor, nonlinear dynamics, hydraulic spring

Abstract: – This paper presents a hybrid lateral and longitudinal controller for a self-driving passenger car. The controller comprises a Proportional Derivative (PD) controller as a closed loop controller and Neural Network (NN) based adaptive compensator as a feed forward controller. The activation function of the NN adaptive stage is based on a poly-harmonic Thin Plate Spline (TPS) Radial Basis Function (RBF), which promises better accuracy, smoother interpolation and closed form solutions. The controller development and testing has been performed using a non-linear vehicle dynamics model, which has been developed using the Matlab / Simulink tool. The Controller performance in terms of vehicle lane following (lateral deviation control) and safe cruising control (longitudinal spacing error control) have been verified through simulations. Reductions of lateral deviation error by 15% and longitudinal spacing error by 7% have been achieved.

Abstract: This paper presents the systematic evaluation of performance of indoor optical wireless communication using different modulation schemes and micro electro mechanical systems - single channel imaging receiver (MEMS-SCIR). For the future modern world, indoor optical wireless communications (OWC) play a vital role. The main objective is to compare the performance of various modulation schemes in terms of their bit error probability. On -off keying (OOK) and pulse position modulation (PPM) are widely used in optical wireless communication for its simplicity. Here different digital modulation schemes are approached; bit error rate (BER) is calculated over additive white Gaussian noise channel (AWGN). M-quadrature amplitude modulation (MQAM) gives a better BER performance compared to the M- phase shift keying (MPSK). Thus, MQAM based MEMS-SCIR provides better performance in indoor optical wireless communications.

Abstract: Sculptured or Bossed diaphragm is a specialized geometry with rigid center or boss. This paper presents the outcome of design approaches of sculptured diaphragm structure for low pressure applications. The simulation results are obtained using Intellisuite MEMS CAD design tool. The results indicate that sculptured diaphragm are designed with minimum thickness, compensating the large (a/h) ratio with local stiffening by means of rigid center and better linearity. Further, the maximum stress regions are analyzed for fixing the position of the piezoresistor. Finally, the sensitivity is improved by using the Silicon-On-Insulator (SOI) diaphragms.

Abstract: Simulation of single phase buck boost rectifier with reduced input current THD using single phase matrix converter topology is describing in this paper. Due to the bidirectional feather the operation for buck-boost rectifier can be made through matrix converter topology. And this is possible by the proper switching algorithm to control the switches for their boost and buck operation. The input current nature is almost sinusoidal with low current total current harmonics and the level of THD is below than limit that was defined in the standards of IEEE. With the proper variation in modulation index corresponding changes in the output voltage is observed of buck-boost rectifier. For the synthesis of the output voltage Pulse width modulation (PWM) technique is used. The simulation results using MATLAB/Simulink are providing to validate the feasibility of this proposed method

Abstract: In this paper, a novel design of a multi-sectioned, remotely-actuated, continuum type manipulator is presented. Spatially Hyper-Redundant Robot (SHRR) is based on a continuous backbone model which is divided into four sections. In the area of hyper redundant robotics, kinematic redundant systems result in non square Jacobian matrix which requires a pseudo inverse method to inverse the matrix. A methodology has been devised to solve the Inverse Kinematics (IK) problem of SHRR by predicting the curvature values of each of the section. Redundant IK techniques like Pseudo-Inverse Method (PIM), Jacobian Transpose Method (JTM), Damped Least Squares Method (DLS) and Selectively Damped Least Squares Method (SDLS) are tested on the formulated kinematic model of SHRR using MATLAB and a comparative study has been made.